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<div class="title">hyper_dijkstra.h</div>  </div>
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<a href="hyper__dijkstra_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">// g2o - General Graph Optimization</span></div><div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment">// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard</span></div><div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment">// All rights reserved.</span></div><div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment">//</span></div><div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment">// Redistribution and use in source and binary forms, with or without</span></div><div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment">// modification, are permitted provided that the following conditions are</span></div><div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment">// met:</span></div><div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment">//</span></div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment">// * Redistributions of source code must retain the above copyright notice,</span></div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment">//   this list of conditions and the following disclaimer.</span></div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment">// * Redistributions in binary form must reproduce the above copyright</span></div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment">//   notice, this list of conditions and the following disclaimer in the</span></div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment">//   documentation and/or other materials provided with the distribution.</span></div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment">//</span></div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment">// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS &quot;AS</span></div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment">// IS&quot; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED</span></div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment">// TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A</span></div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment">// PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT</span></div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment">// HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,</span></div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment">// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED</span></div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment">// TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR</span></div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment">// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF</span></div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment">// LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING</span></div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment">// NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS</span></div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="comment">// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.</span></div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;</div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="preprocessor">#ifndef G2O_AIS_GENERAL_DIJKSTRA_HH</span></div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="preprocessor">#define G2O_AIS_GENERAL_DIJKSTRA_HH</span></div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;</div><div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="preprocessor">#include &lt;map&gt;</span></div><div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="preprocessor">#include &lt;set&gt;</span></div><div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="preprocessor">#include &lt;limits&gt;</span></div><div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;</div><div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="hyper__graph_8h.html">hyper_graph.h</a>&quot;</span></div><div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;</div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespaceg2o.html">g2o</a>{</div><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;</div><div class="line"><a name="l00038"></a><span class="lineno"><a class="line" href="structg2o_1_1_hyper_dijkstra.html">   38</a></span>&#160;  <span class="keyword">struct  </span><a class="code" href="structg2o_1_1_hyper_dijkstra.html">HyperDijkstra</a>{</div><div class="line"><a name="l00039"></a><span class="lineno"><a class="line" href="structg2o_1_1_hyper_dijkstra_1_1_cost_function.html">   39</a></span>&#160;    <span class="keyword">struct  </span><a class="code" href="structg2o_1_1_hyper_dijkstra_1_1_cost_function.html">CostFunction</a> {</div><div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">double</span> <a class="code" href="structg2o_1_1_hyper_dijkstra_1_1_cost_function.html#a6d30ca80400c75941851ae079cfd42fd">operator() </a>(<a class="code" href="classg2o_1_1_hyper_graph_1_1_edge.html">HyperGraph::Edge</a>* e, <a class="code" href="classg2o_1_1_hyper_graph_1_1_vertex.html">HyperGraph::Vertex</a>* from, <a class="code" href="classg2o_1_1_hyper_graph_1_1_vertex.html">HyperGraph::Vertex</a>* to)=0;</div><div class="line"><a name="l00041"></a><span class="lineno"><a class="line" href="structg2o_1_1_hyper_dijkstra_1_1_cost_function.html#aabfa53ac04d3934478fe419695474bcf">   41</a></span>&#160;      <span class="keyword">virtual</span> <a class="code" href="structg2o_1_1_hyper_dijkstra_1_1_cost_function.html#aabfa53ac04d3934478fe419695474bcf">~CostFunction</a>() { }</div><div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;    };</div><div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;</div><div class="line"><a name="l00044"></a><span class="lineno"><a class="line" href="structg2o_1_1_hyper_dijkstra_1_1_tree_action.html">   44</a></span>&#160;    <span class="keyword">struct  </span><a class="code" href="structg2o_1_1_hyper_dijkstra_1_1_tree_action.html">TreeAction</a> {</div><div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">double</span> perform(<a class="code" href="classg2o_1_1_hyper_graph_1_1_vertex.html">HyperGraph::Vertex</a>* v, <a class="code" href="classg2o_1_1_hyper_graph_1_1_vertex.html">HyperGraph::Vertex</a>* vParent, <a class="code" href="classg2o_1_1_hyper_graph_1_1_edge.html">HyperGraph::Edge</a>* e);</div><div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">double</span> perform(<a class="code" href="classg2o_1_1_hyper_graph_1_1_vertex.html">HyperGraph::Vertex</a>* v, <a class="code" href="classg2o_1_1_hyper_graph_1_1_vertex.html">HyperGraph::Vertex</a>* vParent, <a class="code" href="classg2o_1_1_hyper_graph_1_1_edge.html">HyperGraph::Edge</a>* e, <span class="keywordtype">double</span> distance);</div><div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;    };</div><div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;</div><div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;    </div><div class="line"><a name="l00050"></a><span class="lineno"><a class="line" href="structg2o_1_1_hyper_dijkstra_1_1_adjacency_map_entry.html">   50</a></span>&#160;    <span class="keyword">struct  </span><a class="code" href="structg2o_1_1_hyper_dijkstra_1_1_adjacency_map_entry.html">AdjacencyMapEntry</a>{</div><div class="line"><a name="l00051"></a><span class="lineno"><a class="line" href="structg2o_1_1_hyper_dijkstra_1_1_adjacency_map_entry.html#a358d802df25b35f34e715710d1fa380c">   51</a></span>&#160;      <span class="keyword">friend</span> <span class="keyword">struct </span><a class="code" href="structg2o_1_1_hyper_dijkstra.html">HyperDijkstra</a>;</div><div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;      <a class="code" href="structg2o_1_1_hyper_dijkstra_1_1_adjacency_map_entry.html">AdjacencyMapEntry</a>(<a class="code" href="classg2o_1_1_hyper_graph_1_1_vertex.html">HyperGraph::Vertex</a>* _child=0, </div><div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;          <a class="code" href="classg2o_1_1_hyper_graph_1_1_vertex.html">HyperGraph::Vertex</a>* _parent=0, </div><div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;          <a class="code" href="classg2o_1_1_hyper_graph_1_1_edge.html">HyperGraph::Edge</a>* _edge=0, </div><div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;          <span class="keywordtype">double</span> _distance=std::numeric_limits&lt;double&gt;::max());</div><div class="line"><a name="l00056"></a><span class="lineno"><a class="line" href="structg2o_1_1_hyper_dijkstra_1_1_adjacency_map_entry.html#a2db2f9eaa364a04f07c81c70784f2193">   56</a></span>&#160;      <a class="code" href="classg2o_1_1_hyper_graph_1_1_vertex.html">HyperGraph::Vertex</a>* <a class="code" href="structg2o_1_1_hyper_dijkstra_1_1_adjacency_map_entry.html#a2db2f9eaa364a04f07c81c70784f2193">child</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _child;}</div><div class="line"><a name="l00057"></a><span class="lineno"><a class="line" href="structg2o_1_1_hyper_dijkstra_1_1_adjacency_map_entry.html#a9ead453f5102583ef68f190b60249fdb">   57</a></span>&#160;      <a class="code" href="classg2o_1_1_hyper_graph_1_1_vertex.html">HyperGraph::Vertex</a>* <a class="code" href="structg2o_1_1_hyper_dijkstra_1_1_adjacency_map_entry.html#a9ead453f5102583ef68f190b60249fdb">parent</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _parent;}</div><div class="line"><a name="l00058"></a><span class="lineno"><a class="line" href="structg2o_1_1_hyper_dijkstra_1_1_adjacency_map_entry.html#a4531caf2e8ceb2d86ba7dbadbc82341c">   58</a></span>&#160;      <a class="code" href="classg2o_1_1_hyper_graph_1_1_edge.html">HyperGraph::Edge</a>* <a class="code" href="structg2o_1_1_hyper_dijkstra_1_1_adjacency_map_entry.html#a4531caf2e8ceb2d86ba7dbadbc82341c">edge</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _edge;}</div><div class="line"><a name="l00059"></a><span class="lineno"><a class="line" href="structg2o_1_1_hyper_dijkstra_1_1_adjacency_map_entry.html#ac7bf36d934980f655f2f8fd04402456b">   59</a></span>&#160;      <span class="keywordtype">double</span> <a class="code" href="structg2o_1_1_hyper_dijkstra_1_1_adjacency_map_entry.html#ac7bf36d934980f655f2f8fd04402456b">distance</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _distance;}</div><div class="line"><a name="l00060"></a><span class="lineno"><a class="line" href="structg2o_1_1_hyper_dijkstra_1_1_adjacency_map_entry.html#aa1a11048612968381db6a0ad525f7e0d">   60</a></span>&#160;      <a class="code" href="classg2o_1_1_hyper_graph.html#a703938cdb4bb636860eed55a2489d70c">HyperGraph::VertexSet</a>&amp; <a class="code" href="structg2o_1_1_hyper_dijkstra_1_1_adjacency_map_entry.html#aa1a11048612968381db6a0ad525f7e0d">children</a>() {<span class="keywordflow">return</span> _children;}</div><div class="line"><a name="l00061"></a><span class="lineno"><a class="line" href="structg2o_1_1_hyper_dijkstra_1_1_adjacency_map_entry.html#a1c3f82778c613d6164a5c5013c6e70c7">   61</a></span>&#160;      <span class="keyword">const</span> <a class="code" href="classg2o_1_1_hyper_graph.html#a703938cdb4bb636860eed55a2489d70c">HyperGraph::VertexSet</a>&amp; <a class="code" href="structg2o_1_1_hyper_dijkstra_1_1_adjacency_map_entry.html#a1c3f82778c613d6164a5c5013c6e70c7">children</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _children;}</div><div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;      <span class="keyword">protected</span>:</div><div class="line"><a name="l00063"></a><span class="lineno"><a class="line" href="structg2o_1_1_hyper_dijkstra_1_1_adjacency_map_entry.html#a7ccdf917414efa537c3942d360ca127a">   63</a></span>&#160;      <a class="code" href="classg2o_1_1_hyper_graph_1_1_vertex.html">HyperGraph::Vertex</a>* <a class="code" href="structg2o_1_1_hyper_dijkstra_1_1_adjacency_map_entry.html#a7ccdf917414efa537c3942d360ca127a">_child</a>;</div><div class="line"><a name="l00064"></a><span class="lineno"><a class="line" href="structg2o_1_1_hyper_dijkstra_1_1_adjacency_map_entry.html#a3490ab9668c98d3e0cb14c54b9d41747">   64</a></span>&#160;      <a class="code" href="classg2o_1_1_hyper_graph_1_1_vertex.html">HyperGraph::Vertex</a>* <a class="code" href="structg2o_1_1_hyper_dijkstra_1_1_adjacency_map_entry.html#a3490ab9668c98d3e0cb14c54b9d41747">_parent</a>;</div><div class="line"><a name="l00065"></a><span class="lineno"><a class="line" href="structg2o_1_1_hyper_dijkstra_1_1_adjacency_map_entry.html#adc56c13a328aac02456474a9e7c72415">   65</a></span>&#160;      <a class="code" href="classg2o_1_1_hyper_graph_1_1_edge.html">HyperGraph::Edge</a>* <a class="code" href="structg2o_1_1_hyper_dijkstra_1_1_adjacency_map_entry.html#adc56c13a328aac02456474a9e7c72415">_edge</a>;</div><div class="line"><a name="l00066"></a><span class="lineno"><a class="line" href="structg2o_1_1_hyper_dijkstra_1_1_adjacency_map_entry.html#a95b3db28f32badcdce2edf1bae83b78d">   66</a></span>&#160; 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<a class="code" href="structg2o_1_1_hyper_dijkstra.html#af12ff8eef95094815a3fa1da0514bda2">AdjacencyMap</a>;</div><div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;    <a class="code" href="structg2o_1_1_hyper_dijkstra.html#a55e844f4b596290cb36a0d9fe4140966">HyperDijkstra</a>(<a class="code" href="classg2o_1_1_hyper_graph.html">HyperGraph</a>* g);</div><div class="line"><a name="l00072"></a><span class="lineno"><a class="line" href="structg2o_1_1_hyper_dijkstra.html#a2cb453ed6f1bf6069186bd269a6464da">   72</a></span>&#160;    <a class="code" href="classg2o_1_1_hyper_graph.html#a703938cdb4bb636860eed55a2489d70c">HyperGraph::VertexSet</a>&amp; <a class="code" href="structg2o_1_1_hyper_dijkstra.html#a2cb453ed6f1bf6069186bd269a6464da">visited</a>() {<span class="keywordflow">return</span> <a class="code" href="structg2o_1_1_hyper_dijkstra.html#ad43cae6d9e1df2cf7db839f504ba6cc5">_visited</a>; }</div><div class="line"><a name="l00073"></a><span class="lineno"><a class="line" href="structg2o_1_1_hyper_dijkstra.html#ace002e09514a2eeb76a7b569f9e30f6c">   73</a></span>&#160; 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          <a class="code" href="structg2o_1_1_hyper_dijkstra_1_1_cost_function.html">HyperDijkstra::CostFunction</a>* cost, </div><div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;           <span class="keywordtype">double</span> maxDistance=std::numeric_limits&lt; double &gt;::max(), </div><div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;           <span class="keywordtype">double</span> comparisonConditioner=1e-3, </div><div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;           <span class="keywordtype">bool</span> directed=<span class="keyword">false</span>,</div><div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;           <span class="keywordtype">double</span> maxEdgeCost=std::numeric_limits&lt; double &gt;::max());</div><div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;</div><div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;    <span class="keywordtype">void</span> <a class="code" href="structg2o_1_1_hyper_dijkstra.html#ad88b79c73c8eaa5f1afbe27b778b542e">shortestPaths</a>(<a class="code" href="classg2o_1_1_hyper_graph.html#a703938cdb4bb636860eed55a2489d70c">HyperGraph::VertexSet</a>&amp; vset, </div><div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;           <a class="code" href="structg2o_1_1_hyper_dijkstra_1_1_cost_function.html">HyperDijkstra::CostFunction</a>* cost, </div><div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;           <span class="keywordtype">double</span> maxDistance=std::numeric_limits&lt; double &gt;::max(), </div><div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;           <span class="keywordtype">double</span> comparisonConditioner=1e-3, </div><div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;           <span class="keywordtype">bool</span> directed=<span class="keyword">false</span>,</div><div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;           <span class="keywordtype">double</span> maxEdgeCost=std::numeric_limits&lt; double &gt;::max());</div><div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;</div><div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;</div><div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;    <span class="keyword">static</span> <span class="keywordtype">void</span> <a class="code" href="structg2o_1_1_hyper_dijkstra.html#a84a1d7288e1d76369442f89604c5d6de">computeTree</a>(AdjacencyMap&amp; amap);</div><div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;    <span class="keyword">static</span> <span class="keywordtype">void</span> <a class="code" href="structg2o_1_1_hyper_dijkstra.html#aa73ae495f10f81823b16f26715f32c58">visitAdjacencyMap</a>(AdjacencyMap&amp; amap, <a class="code" href="structg2o_1_1_hyper_dijkstra_1_1_tree_action.html">TreeAction</a>* action, <span class="keywordtype">bool</span> useDistance=<span class="keyword">false</span>);</div><div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;    <span class="keyword">static</span> <span class="keywordtype">void</span> <a class="code" href="structg2o_1_1_hyper_dijkstra.html#a846232e98c8175ec2fff784fc3271ad7">connectedSubset</a>(<a class="code" href="classg2o_1_1_hyper_graph.html#a703938cdb4bb636860eed55a2489d70c">HyperGraph::VertexSet</a>&amp; connected, <a class="code" href="classg2o_1_1_hyper_graph.html#a703938cdb4bb636860eed55a2489d70c">HyperGraph::VertexSet</a>&amp; <a class="code" href="structg2o_1_1_hyper_dijkstra.html#a2cb453ed6f1bf6069186bd269a6464da">visited</a>, </div><div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;           <a class="code" href="classg2o_1_1_hyper_graph.html#a703938cdb4bb636860eed55a2489d70c">HyperGraph::VertexSet</a>&amp; startingSet, </div><div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;           <a class="code" href="classg2o_1_1_hyper_graph.html">HyperGraph</a>* g, <a class="code" href="classg2o_1_1_hyper_graph_1_1_vertex.html">HyperGraph::Vertex</a>* v,</div><div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;           <a class="code" href="structg2o_1_1_hyper_dijkstra_1_1_cost_function.html">HyperDijkstra::CostFunction</a>* cost, <span class="keywordtype">double</span> distance, <span class="keywordtype">double</span> comparisonConditioner,</div><div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;           <span class="keywordtype">double</span> maxEdgeCost=std::numeric_limits&lt; double &gt;::max() );</div><div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;</div><div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;  <span class="keyword">protected</span>:</div><div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;    <span class="keywordtype">void</span> <a class="code" href="structg2o_1_1_hyper_dijkstra.html#ad9c39fd01a0740f2beff98c927aaebbd">reset</a>();</div><div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;</div><div class="line"><a name="l00102"></a><span class="lineno"><a class="line" href="structg2o_1_1_hyper_dijkstra.html#ae306dd26e901b88fe6c54f02a45c3e7f">  102</a></span>&#160;    AdjacencyMap <a class="code" href="structg2o_1_1_hyper_dijkstra.html#ae306dd26e901b88fe6c54f02a45c3e7f">_adjacencyMap</a>;</div><div class="line"><a name="l00103"></a><span class="lineno"><a class="line" href="structg2o_1_1_hyper_dijkstra.html#ad43cae6d9e1df2cf7db839f504ba6cc5">  103</a></span>&#160;    <a class="code" href="classg2o_1_1_hyper_graph.html#a703938cdb4bb636860eed55a2489d70c">HyperGraph::VertexSet</a> <a class="code" href="structg2o_1_1_hyper_dijkstra.html#ad43cae6d9e1df2cf7db839f504ba6cc5">_visited</a>;</div><div class="line"><a name="l00104"></a><span class="lineno"><a class="line" href="structg2o_1_1_hyper_dijkstra.html#a1bf21d65ddd6e0feeb6a76f58d7f2c6e">  104</a></span>&#160;    <a class="code" href="classg2o_1_1_hyper_graph.html">HyperGraph</a>* <a class="code" href="structg2o_1_1_hyper_dijkstra.html#a1bf21d65ddd6e0feeb6a76f58d7f2c6e">_graph</a>;</div><div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;  };</div><div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;</div><div class="line"><a name="l00107"></a><span class="lineno"><a class="line" href="structg2o_1_1_uniform_cost_function.html">  107</a></span>&#160; 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<div class="ttc" id="classg2o_1_1_hyper_graph_1_1_edge_html"><div class="ttname"><a href="classg2o_1_1_hyper_graph_1_1_edge.html">g2o::HyperGraph::Edge</a></div><div class="ttdoc">Abstract Edge class. </div><div class="ttdef"><b>Definition:</b> hyper_graph.h:119</div></div>
<div class="ttc" id="hyper__graph_8h_html"><div class="ttname"><a href="hyper__graph_8h.html">hyper_graph.h</a></div></div>
<div class="ttc" id="structg2o_1_1_hyper_dijkstra_html_ace002e09514a2eeb76a7b569f9e30f6c"><div class="ttname"><a href="structg2o_1_1_hyper_dijkstra.html#ace002e09514a2eeb76a7b569f9e30f6c">g2o::HyperDijkstra::adjacencyMap</a></div><div class="ttdeci">AdjacencyMap &amp; adjacencyMap()</div><div class="ttdef"><b>Definition:</b> hyper_dijkstra.h:73</div></div>
<div class="ttc" id="classg2o_1_1_hyper_graph_html"><div class="ttname"><a href="classg2o_1_1_hyper_graph.html">g2o::HyperGraph</a></div><div class="ttdoc">Class that models a directed Hyper-Graph. </div><div class="ttdef"><b>Definition:</b> hyper_graph.h:58</div></div>
<div class="ttc" id="structg2o_1_1_hyper_dijkstra_html_a2cb453ed6f1bf6069186bd269a6464da"><div class="ttname"><a href="structg2o_1_1_hyper_dijkstra.html#a2cb453ed6f1bf6069186bd269a6464da">g2o::HyperDijkstra::visited</a></div><div class="ttdeci">HyperGraph::VertexSet &amp; visited()</div><div class="ttdef"><b>Definition:</b> hyper_dijkstra.h:72</div></div>
<div class="ttc" id="structg2o_1_1_hyper_dijkstra_1_1_adjacency_map_entry_html_a9ead453f5102583ef68f190b60249fdb"><div class="ttname"><a href="structg2o_1_1_hyper_dijkstra_1_1_adjacency_map_entry.html#a9ead453f5102583ef68f190b60249fdb">g2o::HyperDijkstra::AdjacencyMapEntry::parent</a></div><div class="ttdeci">HyperGraph::Vertex * parent() const</div><div class="ttdef"><b>Definition:</b> hyper_dijkstra.h:57</div></div>
<div class="ttc" id="structg2o_1_1_hyper_dijkstra_html_ae306dd26e901b88fe6c54f02a45c3e7f"><div class="ttname"><a href="structg2o_1_1_hyper_dijkstra.html#ae306dd26e901b88fe6c54f02a45c3e7f">g2o::HyperDijkstra::_adjacencyMap</a></div><div class="ttdeci">AdjacencyMap _adjacencyMap</div><div class="ttdef"><b>Definition:</b> hyper_dijkstra.h:102</div></div>
<div class="ttc" id="structg2o_1_1_hyper_dijkstra_1_1_cost_function_html_aabfa53ac04d3934478fe419695474bcf"><div class="ttname"><a href="structg2o_1_1_hyper_dijkstra_1_1_cost_function.html#aabfa53ac04d3934478fe419695474bcf">g2o::HyperDijkstra::CostFunction::~CostFunction</a></div><div class="ttdeci">virtual ~CostFunction()</div><div class="ttdef"><b>Definition:</b> hyper_dijkstra.h:41</div></div>
<div class="ttc" id="classg2o_1_1_hyper_graph_html_a703938cdb4bb636860eed55a2489d70c"><div class="ttname"><a href="classg2o_1_1_hyper_graph.html#a703938cdb4bb636860eed55a2489d70c">g2o::HyperGraph::VertexSet</a></div><div class="ttdeci">std::set&lt; Vertex * &gt; VertexSet</div><div class="ttdef"><b>Definition:</b> hyper_graph.h:91</div></div>
<div class="ttc" id="structg2o_1_1_hyper_dijkstra_html_aa73ae495f10f81823b16f26715f32c58"><div class="ttname"><a href="structg2o_1_1_hyper_dijkstra.html#aa73ae495f10f81823b16f26715f32c58">g2o::HyperDijkstra::visitAdjacencyMap</a></div><div class="ttdeci">static void visitAdjacencyMap(AdjacencyMap &amp;amap, TreeAction *action, bool useDistance=false)</div><div class="ttdef"><b>Definition:</b> hyper_dijkstra.cpp:179</div></div>
<div class="ttc" id="structg2o_1_1_hyper_dijkstra_1_1_adjacency_map_entry_html"><div class="ttname"><a href="structg2o_1_1_hyper_dijkstra_1_1_adjacency_map_entry.html">g2o::HyperDijkstra::AdjacencyMapEntry</a></div><div class="ttdef"><b>Definition:</b> hyper_dijkstra.h:50</div></div>
<div class="ttc" id="structg2o_1_1_hyper_dijkstra_html"><div class="ttname"><a href="structg2o_1_1_hyper_dijkstra.html">g2o::HyperDijkstra</a></div><div class="ttdef"><b>Definition:</b> hyper_dijkstra.h:38</div></div>
<div class="ttc" id="structg2o_1_1_hyper_dijkstra_1_1_cost_function_html_a6d30ca80400c75941851ae079cfd42fd"><div class="ttname"><a href="structg2o_1_1_hyper_dijkstra_1_1_cost_function.html#a6d30ca80400c75941851ae079cfd42fd">g2o::HyperDijkstra::CostFunction::operator()</a></div><div class="ttdeci">virtual double operator()(HyperGraph::Edge *e, HyperGraph::Vertex *from, HyperGraph::Vertex *to)=0</div></div>
<div class="ttc" id="structg2o_1_1_hyper_dijkstra_html_ad43cae6d9e1df2cf7db839f504ba6cc5"><div class="ttname"><a href="structg2o_1_1_hyper_dijkstra.html#ad43cae6d9e1df2cf7db839f504ba6cc5">g2o::HyperDijkstra::_visited</a></div><div class="ttdeci">HyperGraph::VertexSet _visited</div><div class="ttdef"><b>Definition:</b> hyper_dijkstra.h:103</div></div>
<div class="ttc" id="structg2o_1_1_hyper_dijkstra_1_1_adjacency_map_entry_html_a4531caf2e8ceb2d86ba7dbadbc82341c"><div class="ttname"><a href="structg2o_1_1_hyper_dijkstra_1_1_adjacency_map_entry.html#a4531caf2e8ceb2d86ba7dbadbc82341c">g2o::HyperDijkstra::AdjacencyMapEntry::edge</a></div><div class="ttdeci">HyperGraph::Edge * edge() const</div><div class="ttdef"><b>Definition:</b> hyper_dijkstra.h:58</div></div>
<div class="ttc" id="structg2o_1_1_uniform_cost_function_html"><div class="ttname"><a href="structg2o_1_1_uniform_cost_function.html">g2o::UniformCostFunction</a></div><div class="ttdef"><b>Definition:</b> hyper_dijkstra.h:107</div></div>
<div class="ttc" id="structg2o_1_1_hyper_dijkstra_html_a55e844f4b596290cb36a0d9fe4140966"><div class="ttname"><a href="structg2o_1_1_hyper_dijkstra.html#a55e844f4b596290cb36a0d9fe4140966">g2o::HyperDijkstra::HyperDijkstra</a></div><div class="ttdeci">HyperDijkstra(HyperGraph *g)</div><div class="ttdef"><b>Definition:</b> hyper_dijkstra.cpp:61</div></div>
<div class="ttc" id="classg2o_1_1_hyper_graph_1_1_vertex_html"><div class="ttname"><a href="classg2o_1_1_hyper_graph_1_1_vertex.html">g2o::HyperGraph::Vertex</a></div><div class="ttdoc">abstract Vertex, your types must derive from that one </div><div class="ttdef"><b>Definition:</b> hyper_graph.h:97</div></div>
<div class="ttc" id="structg2o_1_1_hyper_dijkstra_html_a1bf21d65ddd6e0feeb6a76f58d7f2c6e"><div class="ttname"><a href="structg2o_1_1_hyper_dijkstra.html#a1bf21d65ddd6e0feeb6a76f58d7f2c6e">g2o::HyperDijkstra::_graph</a></div><div class="ttdeci">HyperGraph * _graph</div><div class="ttdef"><b>Definition:</b> hyper_dijkstra.h:104</div></div>
<div class="ttc" id="structg2o_1_1_hyper_dijkstra_html_ad88b79c73c8eaa5f1afbe27b778b542e"><div class="ttname"><a href="structg2o_1_1_hyper_dijkstra.html#ad88b79c73c8eaa5f1afbe27b778b542e">g2o::HyperDijkstra::shortestPaths</a></div><div class="ttdeci">void shortestPaths(HyperGraph::Vertex *v, HyperDijkstra::CostFunction *cost, double maxDistance=std::numeric_limits&lt; double &gt;::max(), double comparisonConditioner=1e-3, bool directed=false, double maxEdgeCost=std::numeric_limits&lt; double &gt;::max())</div><div class="ttdef"><b>Definition:</b> hyper_dijkstra.cpp:149</div></div>
<div class="ttc" id="structg2o_1_1_hyper_dijkstra_1_1_adjacency_map_entry_html_a95b3db28f32badcdce2edf1bae83b78d"><div class="ttname"><a href="structg2o_1_1_hyper_dijkstra_1_1_adjacency_map_entry.html#a95b3db28f32badcdce2edf1bae83b78d">g2o::HyperDijkstra::AdjacencyMapEntry::_distance</a></div><div class="ttdeci">double _distance</div><div class="ttdef"><b>Definition:</b> hyper_dijkstra.h:66</div></div>
<div class="ttc" id="structg2o_1_1_hyper_dijkstra_1_1_adjacency_map_entry_html_a2db2f9eaa364a04f07c81c70784f2193"><div class="ttname"><a href="structg2o_1_1_hyper_dijkstra_1_1_adjacency_map_entry.html#a2db2f9eaa364a04f07c81c70784f2193">g2o::HyperDijkstra::AdjacencyMapEntry::child</a></div><div class="ttdeci">HyperGraph::Vertex * child() const</div><div class="ttdef"><b>Definition:</b> hyper_dijkstra.h:56</div></div>
<div class="ttc" id="namespaceg2o_html"><div class="ttname"><a href="namespaceg2o.html">g2o</a></div><div class="ttdef"><b>Definition:</b> base_binary_edge.h:37</div></div>
<div class="ttc" id="structg2o_1_1_hyper_dijkstra_1_1_adjacency_map_entry_html_a3490ab9668c98d3e0cb14c54b9d41747"><div class="ttname"><a href="structg2o_1_1_hyper_dijkstra_1_1_adjacency_map_entry.html#a3490ab9668c98d3e0cb14c54b9d41747">g2o::HyperDijkstra::AdjacencyMapEntry::_parent</a></div><div class="ttdeci">HyperGraph::Vertex * _parent</div><div class="ttdef"><b>Definition:</b> hyper_dijkstra.h:64</div></div>
<div class="ttc" id="structg2o_1_1_hyper_dijkstra_1_1_adjacency_map_entry_html_a7ccdf917414efa537c3942d360ca127a"><div class="ttname"><a href="structg2o_1_1_hyper_dijkstra_1_1_adjacency_map_entry.html#a7ccdf917414efa537c3942d360ca127a">g2o::HyperDijkstra::AdjacencyMapEntry::_child</a></div><div class="ttdeci">HyperGraph::Vertex * _child</div><div class="ttdef"><b>Definition:</b> hyper_dijkstra.h:63</div></div>
<div class="ttc" id="structg2o_1_1_hyper_dijkstra_html_af12ff8eef95094815a3fa1da0514bda2"><div class="ttname"><a href="structg2o_1_1_hyper_dijkstra.html#af12ff8eef95094815a3fa1da0514bda2">g2o::HyperDijkstra::AdjacencyMap</a></div><div class="ttdeci">std::map&lt; HyperGraph::Vertex *, AdjacencyMapEntry &gt; AdjacencyMap</div><div class="ttdef"><b>Definition:</b> hyper_dijkstra.h:70</div></div>
<div class="ttc" id="structg2o_1_1_hyper_dijkstra_1_1_tree_action_html"><div class="ttname"><a href="structg2o_1_1_hyper_dijkstra_1_1_tree_action.html">g2o::HyperDijkstra::TreeAction</a></div><div class="ttdef"><b>Definition:</b> hyper_dijkstra.h:44</div></div>
<div class="ttc" id="structg2o_1_1_hyper_dijkstra_html_a84a1d7288e1d76369442f89604c5d6de"><div class="ttname"><a href="structg2o_1_1_hyper_dijkstra.html#a84a1d7288e1d76369442f89604c5d6de">g2o::HyperDijkstra::computeTree</a></div><div class="ttdeci">static void computeTree(AdjacencyMap &amp;amap)</div><div class="ttdef"><b>Definition:</b> hyper_dijkstra.cpp:157</div></div>
<div class="ttc" id="structg2o_1_1_hyper_dijkstra_1_1_adjacency_map_entry_html_a1c3f82778c613d6164a5c5013c6e70c7"><div class="ttname"><a href="structg2o_1_1_hyper_dijkstra_1_1_adjacency_map_entry.html#a1c3f82778c613d6164a5c5013c6e70c7">g2o::HyperDijkstra::AdjacencyMapEntry::children</a></div><div class="ttdeci">const HyperGraph::VertexSet &amp; children() const</div><div class="ttdef"><b>Definition:</b> hyper_dijkstra.h:61</div></div>
<div class="ttc" id="structg2o_1_1_hyper_dijkstra_html_a846232e98c8175ec2fff784fc3271ad7"><div class="ttname"><a href="structg2o_1_1_hyper_dijkstra.html#a846232e98c8175ec2fff784fc3271ad7">g2o::HyperDijkstra::connectedSubset</a></div><div class="ttdeci">static void connectedSubset(HyperGraph::VertexSet &amp;connected, HyperGraph::VertexSet &amp;visited, HyperGraph::VertexSet &amp;startingSet, HyperGraph *g, HyperGraph::Vertex *v, HyperDijkstra::CostFunction *cost, double distance, double comparisonConditioner, double maxEdgeCost=std::numeric_limits&lt; double &gt;::max())</div><div class="ttdef"><b>Definition:</b> hyper_dijkstra.cpp:227</div></div>
<div class="ttc" id="structg2o_1_1_hyper_dijkstra_1_1_adjacency_map_entry_html_aa1a11048612968381db6a0ad525f7e0d"><div class="ttname"><a href="structg2o_1_1_hyper_dijkstra_1_1_adjacency_map_entry.html#aa1a11048612968381db6a0ad525f7e0d">g2o::HyperDijkstra::AdjacencyMapEntry::children</a></div><div class="ttdeci">HyperGraph::VertexSet &amp; children()</div><div class="ttdef"><b>Definition:</b> hyper_dijkstra.h:60</div></div>
<div class="ttc" id="structg2o_1_1_hyper_dijkstra_1_1_adjacency_map_entry_html_a5b69ff3769d50a3229e2df80cac3f093"><div class="ttname"><a href="structg2o_1_1_hyper_dijkstra_1_1_adjacency_map_entry.html#a5b69ff3769d50a3229e2df80cac3f093">g2o::HyperDijkstra::AdjacencyMapEntry::_children</a></div><div class="ttdeci">HyperGraph::VertexSet _children</div><div class="ttdef"><b>Definition:</b> hyper_dijkstra.h:67</div></div>
<div class="ttc" id="structg2o_1_1_hyper_dijkstra_1_1_adjacency_map_entry_html_adc56c13a328aac02456474a9e7c72415"><div class="ttname"><a href="structg2o_1_1_hyper_dijkstra_1_1_adjacency_map_entry.html#adc56c13a328aac02456474a9e7c72415">g2o::HyperDijkstra::AdjacencyMapEntry::_edge</a></div><div class="ttdeci">HyperGraph::Edge * _edge</div><div class="ttdef"><b>Definition:</b> hyper_dijkstra.h:65</div></div>
<div class="ttc" id="structg2o_1_1_hyper_dijkstra_1_1_cost_function_html"><div class="ttname"><a href="structg2o_1_1_hyper_dijkstra_1_1_cost_function.html">g2o::HyperDijkstra::CostFunction</a></div><div class="ttdef"><b>Definition:</b> hyper_dijkstra.h:39</div></div>
<div class="ttc" id="structg2o_1_1_hyper_dijkstra_1_1_adjacency_map_entry_html_ac7bf36d934980f655f2f8fd04402456b"><div class="ttname"><a href="structg2o_1_1_hyper_dijkstra_1_1_adjacency_map_entry.html#ac7bf36d934980f655f2f8fd04402456b">g2o::HyperDijkstra::AdjacencyMapEntry::distance</a></div><div class="ttdeci">double distance() const</div><div class="ttdef"><b>Definition:</b> hyper_dijkstra.h:59</div></div>
<div class="ttc" id="structg2o_1_1_hyper_dijkstra_html_a578a9eb1874d9802dbd37a2f1681c196"><div class="ttname"><a href="structg2o_1_1_hyper_dijkstra.html#a578a9eb1874d9802dbd37a2f1681c196">g2o::HyperDijkstra::graph</a></div><div class="ttdeci">HyperGraph * graph()</div><div class="ttdef"><b>Definition:</b> hyper_dijkstra.h:74</div></div>
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